IC646LBR100

IC646LBR100

IC646LBR100

IC646LBR100

IC646LBR100

本文设计的机器人为六自由度机器人：三个转动三个平动。机器人的六自由度协同完成空间运动。考虑到设计的机器人属于小型机器人，希望尽量减轻重量。这样一来，由于刚度下降而要求限定机构整体负载，

《联系人；欧先生》
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同时还要考虑机构高速运动时的稳定性。而且，该多自由度机构的刚度设计取决于运动的速度与方向。

2模糊神经网络

2.1控制系统结构

结合机器人定位系统构建控制系统结构如图2所示，将机器人位置作为被控制量。

图2 模糊神经PID控制结构图

图中e和ec分别为误差和误差变化率，输入r为机器人位置，输出y为机器人实际输出。

2.2 模糊神经网络的结构

该模糊神经网络为4层，如图3所示。第l层为输入层；第2层为模糊化层；第3层为模糊推理层；第4层为输出层。模糊神经网络结构为2–6–6–3。

Manufacturer P/N Description
Woodward 126443munication Cable
Woodward 376104 LSG-10
Woodward 5441689 24/120 I/O
Woodward 1326-183
Woodward 1691-143+B842con Expansion Chassis
Woodward 1720-707 Panel Switch, SPDT
Woodward 1720-713 Panel Switch, SPDT
Woodward 1720-719 Panel Switch, SPDT
Woodward 1751-147D 4 Ch. MPU Transformer
Woodward 1751-6058B
Woodward 1751-673 extractor, handle
Woodward 1751-675 extractor, bottom handle
Woodward 1785-655 100 ohm RTD to 0-5 volt converter 
Woodward 1790-789 Intel Memory Card 4 MB
Woodward 1790-791
Woodward 1790-9026
Woodward 1803-105
Woodward 1843-325 Digital Meter
Woodward 1886-313 TM25 Torque Motor
Woodward 1887-031
Woodward 3005-510 filter assembly
Woodward 3005-517 filter assembly
Woodward 3052-141 gasket
Woodward 3081-847 CPU Connection
Woodward 31902-02 505 Display
Woodward 3313-055 METERING SLEEVE
Woodward 3462-757
Woodward 3462-757
Woodward 3462-758
Woodward 376-104 LSG-10
Woodward 4199J51 Standard Summe Board
Woodward 5403-535 Cables, 501
Woodward 5403-536 Cables, 501
Woodward 5403-616enor Cables
Woodward 5403-824 Multipin 8ft cable
Woodward 5403-975 Cable
Woodward 5403-977con Cables
Woodward 5403-978con Cables
Woodward 5405-818 Cables, 501
Woodward 5405-819 Cables, 501
Woodward 5410-995
Woodward 5412-033
Woodward 5415-623 Control Cables
Woodward 5415-625 Control Cables
Woodward 5415-625 Control Cables
Woodward 5415-703 Control Cables
Woodward 5415-737 Control Cables
Woodward 5415-738 Control Cables
Woodward 5415-816 Control Cables
Woodward 5415-851con Cables
Woodward 5415-852con Cables
Woodward 5415-856 Control Cables
Woodward 5415-858 Control Cables
Woodward 5415-966 replace by 5416-348
Woodward 5416-190 Cable
Woodward 5416-337 Cable
Woodward 5416-338 Cable
Woodward 5416-338Con Cables
Woodward 5416-339 Cable
Woodward 5416-351con Cables
Woodward 5416-352con Cables
Woodward 5417-032 Cable
Woodward 5417-040 Micr Cable
Woodward 5417-173 Micr Cable
Woodward 5417-175 Cable
Woodward 5417-176 Cable
Woodward 5417-413 Cable
Woodward 5417-417 Cable
Woodward 5421-112
Woodward 5421-123
Woodward 5421-178
Woodward 5430-856 Ext. Card
Woodward 5430-929
Woodward 5432-039
Woodward 5432-157 Seq.Power Module
Woodward 5434-334
Woodward 5437-027 MODULE, CHASSIS ASSY DCS 509 VFD
Woodward 5437-051 Relay Module, 32 ch
Woodward 5437-076Con Power Supply
Woodward 5437-077 inactive, r/b 9907-077
Woodward 5437-078con Main Chassis
Woodward 5437-078con Main Chassis
Woodward 5437-079 FTM (Field Termination)
Woodward 5437-080 FTM
Woodward 5437-081 Power Supply
Woodward 5437-092CON
Woodward 5437-173 FTM (Field Termination)
Woodward 5437-281 Lin-FTM Parts
Woodward 5437-282 FTM (Field Termination)
Woodward 5437-283 FTM Modules
Woodward 5437-406 Lin-FTM Parts
Woodward 5437-417 Lin-FTM Parts
Woodward 5437-418
Woodward 5437-465 Lin-FTM Parts
Woodward 5437-484 FTM (Field Termination)
Woodward 5437-523 FTM, analog 8 CHANNEL
Woodward 5437-524 FTM, T/C 8 CHANNEL
Woodward 5437-672 Lin-FTM Parts
Woodward 5437-686 Lin-FTM Parts
Woodward 5437-687 FTM (Field Termination)
Woodward 5437-843 Micr Chassis
Woodward 5437-844 Micr Chassis
Woodward 5437-845 Notch Filter 3kHz.
Woodward 5437-860 CHASSIS -Con 5000 I/O
Woodward 5439-076 24 VDC Power Supply 
Woodward 5439-273 501 chassis
Woodward 5439-555
Woodward 5439-730Con Power Supply
Woodward 5439-751
Woodward 5439-754con Expansion Chassis
Woodward 5439-754con Expansion Chassis
Woodward 5439-760Con Main Power Supply
Woodward 5439-764 Power Supply
Woodward 5439-766 Power Supply
Woodward 5439-800 Power Supply
Woodward 5439-861 CHASSIS -E 503 VFD W/O FANS
Woodward 5439-927 509 chassis
Woodward 5439-929 POWER SUPPLY ASSY- 509
Woodward 5439-966con Expansion Chassis
Woodward 5439-984 120v AC power supply
Woodward 5439-986 Chassis
Woodward 5441-407 Relay Module, 5 AMP, 28 ch
Woodward 5441-409 10 Amp Relay Interface
Woodward 5441-413 32 CHANNEL RELAY INTERFACE
Woodward 5441-419 16 CHANNEL RELAY INTERFACE
Woodward 5441-629 5 AMP RELAY INTERFACE
Woodward 5441-635 Opto Isolator
Woodward 5441-637 5 AMP Relay Interface
Woodward 5441-645 10 amp relay 28 ch
Woodward 5441-661 Relay Interface
Woodward 5441-663 RELAY INT
Woodward 5441-669
Woodward 5441-671 10 Amp Relay Interface
Woodward 5441-673 Relay Module, 5 amp, 8 ch
Woodward 5441-689 24/120 I/O
Woodward 5441-691 replaced by 1751-6091
Woodward 5441-693 Relay Interface 12ch AFTM1099A
Woodward 5441-695
Woodward 5441-697 I/O
Woodward 5441-889
Woodward 5448-906 Control SPM-D10
Woodward 5448-906 Control SPM-D10
Woodward 5450-106
Woodward 5453-278 Micr Chassis
Woodward 5453-750Con/Micr Ethe Interface
Woodward 5453-754Con/Micr Ethe Interface
Woodward 5460-735 Speed Control
Woodward 5460-796 Pressure Channel
Woodward 5460-836 Speed Sensor
Woodward 5460-837 Speed Reference
Woodward 5460-838 Frequency Control
Woodward 5460-839 Auxiliary Module
Woodward 5460-840 Pressure Reference
Woodward 5460-841 Auxiliary Module
Woodward 5460-842 Power Sensor
Woodward 5460-843 Power Channel
Woodward 5460-844 Final Driver
Woodward 5461-002
Woodward 5461-062
Woodward 5461-082 Voltage Input (0-10 or 0-5 VDC)
Woodward 5461-083 Discrete In
Woodward 5461-086
Woodward 5461-088 DO
Woodward 5461-117 PS A-19
Woodward 5461-290 High Volt P/S
Woodward 5461-292 SECONDARY POWER SUPPLY
Woodward 5461-331 Master CPU
Woodward 5461-622+B2 Load Control ?
Woodward 5461-639 CPU MODULE
Woodward 5461-640 PS AUX
Woodward 5461-641 MODULE ASSY - DCS II FTC
Woodward 5461-642 Discrete Input
Woodward 5461-643 Discrete Output
Woodward 5461-644 Analog Output (4-20 mA)
Woodward 5461-646 SIO MODULE
Woodward 5461-647 Speed Input
Woodward 5461-648 TRANSCEIVER
Woodward 5461-650 T/C Input
Woodward 5461-651 Analog Input - 8 Channel 4-20 mA
Woodward 5461-652 CURRENT INPUT
Woodward 5461-653
Woodward 5461-654 8 Ch RTD/input
Woodward 5461-655
Woodward 5461-656
Woodward 5461-659 DISCREET MODULE
Woodward 5461-661 Current Output Isolated - 507 (8 Channel)
Woodward 5461-768 Speed Control
Woodward 5461-769 Speed Reference
Woodward 5461-770 Speed Control
Woodward 5461-771 Speed Reference
Woodward 5461-772 Temp Control
Woodward 5461-773 SW Mode
Woodward 5461-774 Freq. Control
Woodward 5461-775 Amb. Bias Ramp
Woodward 5461-776 el. Schedule
Woodward 5461-777 Decel. Jump Rate
Woodward 5461-778 Liq. Final Driver
Woodward 5461-779 Fuel Transfer Card/Board
Woodward 5461-780 Gas Final Driver
Woodward 5461-781 Synchonizer
Woodward 5461-798 N1 Speed Control
Woodward 5461-880 RTD
Woodward 5461-892
Woodward 5461-944 Speed Control
Woodward 5461-975 Power Supply DCS 2 LV
Woodward 5461-975 Power Supply DCS 2 LV
Woodward 5462-017 DCS DIGITAL SPD SENSOR
Woodward 5462-085 FINAL DRIVER
Woodward 5462-117 POS TRANSDUCER
Woodward 5462-236
Woodward 5462-244 Liq. Final Driver
Woodward 5462-268